Skip to content

Commit 324b3de

Browse files
shima004shima004
committed
feat: update launcher configuration and refactor module references for human and road detectors
1 parent 691ee1b commit 324b3de

File tree

10 files changed

+49
-103
lines changed

10 files changed

+49
-103
lines changed

‎adf_core_python/cli/template/config/module.yaml‎

Lines changed: 17 additions & 44 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
## DefaultTacticsAmbulanceTeam
21
DefaultTacticsAmbulanceTeam:
32
HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector
43
Search: src.team_name.module.complex.sample_search.SampleSearch
@@ -7,7 +6,6 @@ DefaultTacticsAmbulanceTeam:
76
CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance
87
CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout
98

10-
# ## DefaultTacticsFireBrigade
119
DefaultTacticsFireBrigade:
1210
HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector
1311
Search: src.team_name.module.complex.sample_search.SampleSearch
@@ -16,7 +14,6 @@ DefaultTacticsFireBrigade:
1614
CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire
1715
CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout
1816

19-
# ## DefaultTacticsPoliceForce
2017
DefaultTacticsPoliceForce:
2118
RoadDetector: src.team_name.module.complex.sample_road_detector.SampleRoadDetector
2219
Search: src.team_name.module.complex.sample_search.SampleSearch
@@ -25,87 +22,63 @@ DefaultTacticsPoliceForce:
2522
CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice
2623
CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice
2724

28-
# ## DefaultTacticsAmbulanceCentre
2925
# DefaultTacticsAmbulanceCentre:
3026
# TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator
3127
# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance
3228

33-
# ## DefaultTacticsFireStation
3429
# DefaultTacticsFireStation:
3530
# TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator
3631
# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire
3732

38-
# ## DefaultTacticsPoliceOffice
3933
# DefaultTacticsPoliceOffice:
4034
# TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator
4135
# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice
4236

43-
## SampleSearch
4437
SampleSearch:
4538
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
4639
Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering
4740

48-
# ## SampleBuildDetector
49-
# SampleBuildingDetector:
50-
# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
51-
52-
# ## SampleRoadDetector
53-
# SampleRoadDetector:
54-
# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
55-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
41+
SampleRoadDetector:
42+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
5643

57-
# ## SampleHumanDetector
58-
# SampleHumanDetector:
59-
# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
44+
SampleHumanDetector:
45+
Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering
6046

61-
# ## DefaultExtendActionClear
62-
# DefaultExtendActionClear:
63-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
47+
DefaultExtendActionClear:
48+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
6449

65-
# ## DefaultExtendActionFireFighting
66-
# DefaultExtendActionFireFighting:
67-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
50+
DefaultExtendActionRescue:
51+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
6852

69-
# ## DefaultExtendActionRescue
70-
# DefaultExtendActionRescue:
71-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
53+
DefaultExtendActionMove:
54+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
7255

73-
# ## DefaultExtendActionMove
74-
# DefaultExtendActionMove:
75-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
56+
DefaultExtendActionTransport:
57+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
7658

77-
# ## DefaultExtendActionTransport
78-
# DefaultExtendActionTransport:
79-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
80-
# ## DefaultCommandExecutorAmbulance
8159
# DefaultCommandExecutorAmbulance:
82-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
60+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
8361
# ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport
8462
# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
8563

86-
# ## DefaultCommandExecutorFire
8764
# DefaultCommandExecutorFire:
88-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
65+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
8966
# EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue
9067
# EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting
9168
# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
9269

93-
# ## DefaultCommandExecutorPolice
9470
# DefaultCommandExecutorPolice:
95-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
71+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
9672
# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear
9773
# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
9874

99-
# ## DefaultCommandExecutorScout
10075
# DefaultCommandExecutorScout:
101-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
76+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
10277

103-
# ## DefaultCommandExecutorScoutPolice
10478
# DefaultCommandExecutorScoutPolice:
105-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
79+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
10680
# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear
10781

108-
# ## MessageManager
10982
MessageManager:
11083
PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber
11184
CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber

‎adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ def __init__(
3131
self._clustering: Clustering = cast(
3232
Clustering,
3333
module_manager.get_module(
34-
"DefaultHumanDetector.Clustering",
34+
"SampleHumanDetector.Clustering",
3535
"adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering",
3636
),
3737
)

‎adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@ def __init__(
3636
self._path_planning: PathPlanning = cast(
3737
PathPlanning,
3838
module_manager.get_module(
39-
"DefaultRoadDetector.PathPlanning",
39+
"SampleRoadDetector.PathPlanning",
4040
"adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning",
4141
),
4242
)

‎adf_core_python/cli/template/src/team_name/module/complex/sample_search.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,15 +36,15 @@ def __init__(
3636
self._clustering: Clustering = cast(
3737
Clustering,
3838
module_manager.get_module(
39-
"DefaultSearch.Clustering",
39+
"SampleSearch.Clustering",
4040
"adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering",
4141
),
4242
)
4343

4444
self._path_planning: PathPlanning = cast(
4545
PathPlanning,
4646
module_manager.get_module(
47-
"DefaultSearch.PathPlanning",
47+
"SampleSearch.PathPlanning",
4848
"adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning",
4949
),
5050
)

‎adf_core_python/implement/action/default_extend_action_rescue.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,7 @@ def __init__(
4747
self._path_planning = cast(
4848
PathPlanning,
4949
self.module_manager.get_module(
50-
"DefaultExtendActionMove.PathPlanning",
50+
"DefaultExtendActionRescue.PathPlanning",
5151
"adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning",
5252
),
5353
)

‎adf_core_python/implement/module/complex/default_human_detector.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ def __init__(
3131
self._clustering: Clustering = cast(
3232
Clustering,
3333
module_manager.get_module(
34-
"DefaultHumanDetector.Clustering",
34+
"SampleHumanDetector.Clustering",
3535
"adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering",
3636
),
3737
)

‎adf_core_python/implement/module/complex/default_road_detector.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@ def __init__(
3636
self._path_planning: PathPlanning = cast(
3737
PathPlanning,
3838
module_manager.get_module(
39-
"DefaultRoadDetector.PathPlanning",
39+
"SampleRoadDetector.PathPlanning",
4040
"adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning",
4141
),
4242
)

‎adf_core_python/implement/module/complex/default_search.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,15 +36,15 @@ def __init__(
3636
self._clustering: Clustering = cast(
3737
Clustering,
3838
module_manager.get_module(
39-
"DefaultSearch.Clustering",
39+
"SampleSearch.Clustering",
4040
"adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering",
4141
),
4242
)
4343

4444
self._path_planning: PathPlanning = cast(
4545
PathPlanning,
4646
module_manager.get_module(
47-
"DefaultSearch.PathPlanning",
47+
"SampleSearch.PathPlanning",
4848
"adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning",
4949
),
5050
)

‎config/launcher.yaml‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -7,25 +7,25 @@ team:
77

88
adf:
99
launcher:
10-
precompute: 0
10+
precompute: false
1111
debug:
12-
flag: 0
12+
flag: false
1313
agent:
1414
moduleconfig:
1515
filename: config/module.yaml
1616

1717
develop:
18-
flag: 1
18+
flag: true
1919
filename: config/development.json
2020

2121
team:
2222
platoon:
2323
ambulance:
24-
count: 1
24+
count: 100
2525
fire:
26-
count: 0
26+
count: 100
2727
police:
28-
count: 0
28+
count: 100
2929
office:
3030
ambulance:
3131
count: -1

‎config/module.yaml‎

Lines changed: 17 additions & 44 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
## DefaultTacticsAmbulanceTeam
21
DefaultTacticsAmbulanceTeam:
32
HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector
43
Search: adf_core_python.implement.module.complex.default_search.DefaultSearch
@@ -7,7 +6,6 @@ DefaultTacticsAmbulanceTeam:
76
CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance
87
CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout
98

10-
# ## DefaultTacticsFireBrigade
119
DefaultTacticsFireBrigade:
1210
HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector
1311
Search: adf_core_python.implement.module.complex.default_search.DefaultSearch
@@ -16,7 +14,6 @@ DefaultTacticsFireBrigade:
1614
CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire
1715
CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout
1816

19-
# ## DefaultTacticsPoliceForce
2017
DefaultTacticsPoliceForce:
2118
RoadDetector: adf_core_python.implement.module.complex.default_road_detector.DefaultRoadDetector
2219
Search: adf_core_python.implement.module.complex.default_search.DefaultSearch
@@ -25,87 +22,63 @@ DefaultTacticsPoliceForce:
2522
CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice
2623
CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice
2724

28-
# ## DefaultTacticsAmbulanceCentre
2925
# DefaultTacticsAmbulanceCentre:
3026
# TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator
3127
# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance
3228

33-
# ## DefaultTacticsFireStation
3429
# DefaultTacticsFireStation:
3530
# TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator
3631
# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire
3732

38-
# ## DefaultTacticsPoliceOffice
3933
# DefaultTacticsPoliceOffice:
4034
# TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator
4135
# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice
4236

43-
## SampleSearch
4437
SampleSearch:
4538
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
4639
Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering
4740

48-
# ## SampleBuildDetector
49-
# SampleBuildingDetector:
50-
# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
51-
52-
# ## SampleRoadDetector
53-
# SampleRoadDetector:
54-
# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
55-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
41+
SampleRoadDetector:
42+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
5643

57-
# ## SampleHumanDetector
58-
# SampleHumanDetector:
59-
# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
44+
SampleHumanDetector:
45+
Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering
6046

61-
# ## DefaultExtendActionClear
62-
# DefaultExtendActionClear:
63-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
47+
DefaultExtendActionClear:
48+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
6449

65-
# ## DefaultExtendActionFireFighting
66-
# DefaultExtendActionFireFighting:
67-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
50+
DefaultExtendActionRescue:
51+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
6852

69-
# ## DefaultExtendActionRescue
70-
# DefaultExtendActionRescue:
71-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
53+
DefaultExtendActionMove:
54+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
7255

73-
# ## DefaultExtendActionMove
74-
# DefaultExtendActionMove:
75-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
56+
DefaultExtendActionTransport:
57+
PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
7658

77-
# ## DefaultExtendActionTransport
78-
# DefaultExtendActionTransport:
79-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
80-
# ## DefaultCommandExecutorAmbulance
8159
# DefaultCommandExecutorAmbulance:
82-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
60+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
8361
# ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport
8462
# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
8563

86-
# ## DefaultCommandExecutorFire
8764
# DefaultCommandExecutorFire:
88-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
65+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
8966
# EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue
9067
# EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting
9168
# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
9269

93-
# ## DefaultCommandExecutorPolice
9470
# DefaultCommandExecutorPolice:
95-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
71+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
9672
# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear
9773
# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
9874

99-
# ## DefaultCommandExecutorScout
10075
# DefaultCommandExecutorScout:
101-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
76+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
10277

103-
# ## DefaultCommandExecutorScoutPolice
10478
# DefaultCommandExecutorScoutPolice:
105-
# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
79+
# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
10680
# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear
10781

108-
# ## MessageManager
10982
MessageManager:
11083
PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber
11184
CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber

0 commit comments

Comments
 (0)